Active camera apparatus and robot apparatus

ABSTRACT

An outer body of ball shell type has an opening. A camera is located in the outer body and receives an image from outside of the outer body through the opening. A camera support unit is located in the outer body and rotationally supports the camera along a first axis and a second axis mutually crossed at a center of the outer body. A first camera actuator is located in the outer body and rotationally actuates the camera around the first axis. A second camera actuator is located in the outer body and rotationally actuates the camera around the second axis.

CROSS-REFERENCE TO RELATED APPLICATIONS

This application is a Continuation of and claims the benefit of priorityunder 35 U.S.C. § 120 from U.S. Ser. No. 10/895,859, filed Jul. 22, 2004and claims the benefit of priority from prior Japanese PatentApplication P2003-201872, filed on Jul. 25, 2003; the entire contents ofeach of which are incorporated herein by reference.

FIELD OF THE INVENTION

The present invention relates to an active camera apparatus and a robotapparatus for positioning a viewpoint of an image sensor of a camera toa predetermined location.

BACKGROUND OF THE INVENTION

Some equipment utilized as an information processing apparatus or arobot apparatus includes a camera and executes a predetermined decisionby monitoring an external environment or a movement of an imaging objectthrough the camera. As one of such equipment, an active camera apparatusof which viewpoint changes by rotating the camera as a human's eye isknown (For example, Japanese Patent Disclosure (Kokai) PH11-355622).

In this active camera apparatus, the camera is located in a body of aball shell type. This camera is supported by a gimbal mechanisminstalled into the body, and rotated around two axes mutually crossed inthe body. The gimbal mechanism is comprised of a pair of gimbals. Onegimbal is located inside of the body, and the other gimbal is locatedoutside of the body.

A camera actuator is located outside of the body. The camera actuatorhas a ring wire bound to the camera. By moving this wire along apredetermined direction, the camera in the body is actuated.

In such active camera apparatus, one gimbal is set in the body.Accordingly, the camera can be moved within a large actuation area. As aresult, the camera can input an image from a wide field of view.

However, as mentioned-above, in the active camera apparatus of the priorart, the camera actuator is located outside of the body. Accordingly,the camera actuator is not protected from the external environment suchas a dust, moisture, and a heat. Furthermore, the whole component of theactive camera apparatus including the camera actuator becomesundesirably large.

SUMMARY OF THE INVENTION

The present invention is directing to an active camera apparatus and arobot apparatus in which the camera and the camera actuator can beprotected from the external environment.

According to an aspect of the present invention, there is provided anactive camera apparatus, comprising: an outer body of ball shell typehaving an opening; a camera in the outer body, the camera receiving animage from outside of the outer body through the opening; a camerasupport unit in the outer body, the camera support unit rotationallysupporting the camera along a first axis and a second axis, the firstaxis and the second axis crossing at a center of the outer body; a firstcamera actuator in the outer body, the first camera actuatorrotationally actuating the camera around the first axis; and a secondcamera actuator in the outer body, the second camera actuatorrotationally actuating the camera around the second axis.

According to another aspect of the present invention, there is alsoprovided a robot apparatus, comprising: an outer body of ball shell typehaving an opening; a camera as an eyeball in the outer body, the camerareceiving an image from outside of the outer body through the opening;an open-close member as an eyelid rotationally located around a centerof the outer body, the open-close member closing the opening byrotation; a camera support unit in the outer body, the camera supportunit rotationally supporting the camera along a first axis and a secondaxis, the first axis and the second axis crossing at the center of theouter body; a first camera actuator in the outer body, the first cameraactuator rotationally actuating the camera around the first axis; and asecond camera actuator in the outer body, the second camera actuatorrotationally actuating the camera around the second axis.

BRIEF DESCRIPTION OF THE DRAWINGS

FIG. 1 is a schematic diagram of the outward appearance of an activecamera apparatus according to a first embodiment of the presentinvention.

FIG. 2 is a sectional plan view of the active camera apparatus along theXZ plane according to the first embodiment of the present invention.

FIG. 3 is a sectional plan view of the active camera apparatus along theYZ plane according to the first embodiment of the present invention.

FIGS. 4A, 4B, and 4C are schematic diagrams of a linking mechanismbetween a camera support member and an open-close member according tothe first embodiment of the present invention.

FIGS. 5A, 5B, and 5C are schematic diagrams of a release situation ofthe linking mechanism between the camera support member and theopen-close member according to the first embodiment of the presentinvention.

FIGS. 6A and 6B are schematic diagrams of components of the activecamera apparatus according to a second embodiment of the presentinvention.

FIGS. 7A, 7B, and 7C are schematic diagrams of an open-close situationof an opening of an outer body according to the second embodiment of thepresent invention.

FIG. 8 is a schematic diagram of the outward appearance of the activecamera apparatus as a sectional plane by YZ plane according to amodification of the second embodiment.

FIG. 9 is a sectional plan of the active camera apparatus according to athird embodiment of the present invention.

FIG. 10 is a block diagram of a lens actuator of the active cameraapparatus according to the third embodiment of the present invention.

FIG. 11 is a schematic diagram of a target set on the inside of theopen-close member according to the third embodiment of the presentinvention.

FIGS. 12A and 12B are schematic diagrams of a rolling situation of theactive camera apparatus according to a fourth embodiment of the presentinvention.

FIG. 13 is a schematic diagram of an adjustment situation of rolling ofthe active camera apparatus by the external environment according to thefourth embodiment of the present invention.

FIGS. 14A and 14B are schematic diagrams of a reaction situation of arobot apparatus according to a fifth embodiment of the presentinvention.

FIG. 15 is a flowchart of communication processing of the robotapparatus with a person according to the fifth embodiment of the presentinvention.

DETAILED DESCRIPTION OF THE PREFERRED EMBODIMENTS

Hereinafter, various embodiments of the present invention will beexplained by referring to the drawings.

The first embodiment of the present invention is explained referring toFIGS. 1˜5. FIG. 1 is a schematic diagram of the outward appearance of anactive camera apparatus according to the first embodiment of the presentinvention. FIG. 2 is a sectional plan of a ball type camera unit by XZplane according to the first embodiment of the present invention. FIG. 3is a sectional plan of the ball type camera unit by YZ plane accordingto the first embodiment of the present invention.

As shown in FIGS. 1˜3, the active camera apparatus of the presentinvention includes an outer body 1 of a ball shell type. An opening 2 isformed in the outer body 1. A transparent light member (not shown in thefigures) formed by transparent material is put into the opening 2. Theopening 2 is formed as a shape and a dimension not to obstruct a fieldof view of a camera 12.

A body fixed member 4 (support member) is fixed to the inside of theouter body 1. This body fixed member is comprised of a board member andprojects toward a center of sphere of the outer body 1.

On a tip of the body fixed member 4, a first groove 5 is formed at amiddle part along board thickness direction. The first groove 5 isformed along a longitudinal direction of the body fixed member 4. A base3 of the first groove 5 is a circular surface of concentric with thecenter of sphere of the outer body 1.

Furthermore, on the tip of the body fixed member 4, a first motor 6 (afirst camera actuator) is fixed. A first pinion gear 7 is joined with arotation axis 6 a of the first motor 6. The first pinion gear 7 isinserted into an insertion hole 8 set at the tip of the body fixedmember 4, and an outer surface of the first pinion gear 7 faces oneinside of the first groove 5.

An arcwise gimbal 9 (a half-toroidal member) has a low friction supportin the inside of the first groove 5. The arcwise gimbal 9 is comprisedof a half-toroidal board member and concentrically located as a centerof sphere of the outer body 1. An outer surface of the arcwise gimbal 9contacts the base 3 of the first groove 5. An inner surface of thearcwise gimbal 9 is located on the base side of the first groove 5 thanthe first pinion gear 7.

An inner gear 9 a is formed on the inner surface of the arcwise gimbal9. The inner gear 9 a engages the first pinion gear 7. By actuating thefirst motor 6, the arcwise gimbal 9 is rotated around Y axis (a firstaxis) passing the center of sphere of the outer body 1.

A spur gear 15 is set to one edge of the arcwise gimbal 9. The spur gear15 is perpendicularly fixed to the one edge of the arcwise gimbal 9 asshown in FIG. 2, and a rotation axis of the spur gear 15 coincides withX axis (a second axis).

Both edges of the arcwise gimbal 9 as a semicircle are connected by anaxial member 10. The axial member 10 is a round stick having aapproximately circular cross section. An axial center line of the axialmember 10 approximately coincides with the X axis, perpendicularlycrossing the Y axis at a center of the sphere of the outer body 1.

A mounting plate 11 (a mounting member) is set to the axial member 10. Asupport section 11 a of shape is formed on one face of the mountingplate 11. By engaging the support section 11 a with the axial member 10,the mounting plate 11 rotates around the axial member 10.

A camera 12 is set to the other face of the mounting plate 11. Thecamera 12 includes an imaging device such as a CCD sensor or a CMOSsensor. An optical axis of the camera 12 coincides with the Z axisperpendicularly crossing the X axis and the Y axis. A front glass 12 ais equipped on a front face of the camera 12.

Furthermore, a camera support member 13 of a ball shell type is fixed tothe front side of the camera 12. The camera support member 13 isconcentrically located in the sphere of the outer body 1. A mountopening 14 is formed on a part corresponding to the front face of thecamera 12.

A second motor 17 (a second camera actuator) is fixed to a predeterminedposition of the mounting plate 11 through a bracket 19. A second piniongear 18 is joined with a rotation axis 17 a of the second motor 17. Thesecond pinion gear 18 engages the spur gear 15. By actuating the secondmotor 17, the second motor 17 rotates around the spur gear 15 as shownby an arrow A of FIG. 3.

Briefly, the camera 12 and the second motor 17 are formed as one bodythrough the mounting plate 11. Accordingly, by actuating the secondmotor 17, the camera 12 rotates around the axial member 10 (X axis).

When the second pinion gear 18 stops rotation by stopping actuation ofthe second motor 17, the camera 12 maintains a position dependent on thetiming of stopping actuation.

As mentioned-above, by actuating the first motor 6, the arcwise gimbal 9rotates around the Y axis by rotation of the first pinion gear 7.Accordingly, the camera 12 supported by the axial member 10 rotatesaround Y axis.

When the arcwise gimbal 9 stops rotation by stopping actuation of thefirst motor 6, the camera 12 maintains a position dependent on thetiming of stopping actuation.

Briefly, the body fixed member 4, the arcwise gimbal 9, the axial member10 and the mounting plate 11 comprise a camera support means 24 torotationally support the camera 12 around X axis and Y axis.

An open-close member 20 is located in a space between the outer body 1and the camera support member 13. The open-close member 20 is comprisedof a part of a ball shell body. A support pin 21 is respectivelyprojected on both edges of the outer surface of the open-close member20. An axial center of the support pin 21 coincides with the X axis. Thesupport pin 21 is rotationally supported by a support hole 22 set in theinside of the outer body 1.

Each support hole 22 is comprised of a first hole 22 a and a second hole22 b as shown in FIG. 1. The first hole 22 a and the second hole 22 bare both round holes of the same diameter. The first hole 22 a is formedat a position crossing the X axis on the outer body 1. The second hole22 b is formed at a position slightly eccentric from the first hole 22 aon the outer body 1.

A connection part between the first hole 22 a and the second hole 22 bhas a hole diameter shorter than each hole. The open-close member 20 canbe slid along a contact direction between the camera support member 13and the open-close member 20 by hand operation. Briefly, the support pin21 can be slid between the first hole 22 a and the second hole 22 b.

FIGS. 4A-4C are schematic diagrams of linking situation between thecamera support member 13 and the open-close member 20 according to thefirst embodiment. FIG. 4A shows a situation before rotating the camerasupport member 13. FIG. 4B shows a situation of rotation of the camerasupport member 13. FIG. 4C shows another situation of rotation of thecamera support member 13.

As shown in FIGS. 4A-4C, the open-close member 20 and the camera supportmember 13 are connected by a linking mechanism 23. The linking mechanism23 is comprised of an engagement pin 23 a set on an outer surface of thecamera support member 13 and an engagement hole 23 b set on theopen-close member 20.

The engagement pin 23 a is formed as a round section and located in aspace between the camera support member 13 and the outer body 1. On theother hand, the engagement hole 23 b is formed as a short length along arotation direction around the X axis and a long length along a rotationdirection around the Y axis (shown in FIG. 4C).

Accordingly, as shown in FIG. 4 a, by inserting the engagement pin 23 ainto the engagement hole 23 b, when the camera support member 13 rotatesaround the X axis, the engagement pin 23 a is caught in an edge part ofthe engagement hole 23 b as shown in FIG. 4C. As a result, theopen-close member 20 and the camera support member 13 are moved withlinking.

However, as mentioned-above, the engagement hole 23 b is formed as along length along a rotation direction around the Y axis. Accordingly,even if the camera support member 13 rotates around the Y axis, theengagement pin 23 a is not caught in the edge part of the engagementhole 23 b, and the open-close member 20 and the camera support member 13are not moved with linking.

FIGS. 5A˜5C are schematic diagrams of release situation of the linkingmechanism between the camera support member 13 and the open-close memberaccording to the first embodiment. FIG. 5A shows a non-release situationof the linking mechanism. FIG. 5B shows a release situation of thelinking mechanism. FIG. 5C shows a situation that the opening of theouter body 1 is closed by the open-close member after releasing thelinking mechanism.

As shown in FIGS. 5A˜5C, this linking mechanism 23 can be released byhand operation. Concretely, in the situation that the linking mechanism23 is not released as shown in FIG. 5A, by pulling up the open-closemember 20 from the camera support member 13 along an alienationdirection of X axis, a position of the support pin 21 is moved from thefirst hole 22 a to the second hole 22 b. In this case, as shown in FIG.5B, the engagement pin 23 a is picked out from the engagement hole 23 b,and the linking between the open-close member 20 and the camera supportmember 13 is released. As a result, as shown in FIG. 5C, the open-closemember 20 can freely move irrespective of the camera support member 13.

In the above explanation, the open-close member 20 can freely move whenthe support pin 21 fits into the second hole 22 b. However, after thelinking mechanism 23 is released, the open-close member 20 may move byfitting a position of the support pin 21 into the first hole 22 a again.

In the above-mentioned active camera apparatus, the camera 12 isrotationally supported around the X axis and the Y axis mutuallycrossing at a center of sphere of the outer body 1. By actuating thefirst motor 6 and the second motor 17, a viewpoint (an optical axis) ofthe camera 12 can be rotated around a center of sphere of the outer body1.

Furthermore, by adjusting actuation quantity of the first motor 6 andthe second motor 17, a viewpoint of the camera 12 variously changes, andan imaging object can be taken from various angles.

In such active camera apparatus, in the first embodiment, the firstmotor 6 and the second motor 17 are accommodated in the outer body 1.Accordingly, the first motor 6 and the second motor 17 can be protectedfrom the external environment conditions such as dust, moisture andheat, and the whole component of the apparatus can be miniaturized.

Furthermore, the open-close member 20 is rotationally located in theouter body 1 around X axis, and the opening 2 is opened and closed usingthe open-close member 20. Accordingly, by covering the front face of thecamera 12 with the open-close member 20 during non-use time of thecamera 12, the front glass 12 a of the camera 12 can be protected. Inaddition to this, by setting a lens cleaner on the inside of theopen-close member 20, a surface of the front glass 12 a of the camera 12can be cleaned using the open-close operation of the open-close member20.

Next, the second embodiment of the present invention is explainedreferring to FIGS. 6˜8. In this embodiment, as for components,activation, and operation the same as the first embodiment, itsexplanation is omitted.

FIGS. 6A and 6B are schematic diagrams of components of the activecamera apparatus according to the second embodiment of the presentinvention. FIG. 6A shows an outward appearance by cutting the activecamera apparatus. FIG. 6B shows a section of the active cameraapparatus.

FIGS. 7A˜7C are schematic diagrams of closing situation of the opening 2of the outer body 1 by the open-close member 20 according to the secondembodiment. FIG. 7A shows a situation that the opening 2 of the outerbody 1 is fully opened. FIG. 7B shows a situation that the opening 2 ofthe outer body 1 is slightly covered by the open-close member 20. FIG.7C shows a situation that the opening 2 of the outer body 1 is fullyclosed by the open-close member 20.

In the second embodiment, as shown in FIGS. 6A and 6B, a torsion spring31 is inter-carried between the support pin 21 and the support hole 22.The torsion spring 31 energizes the open-close member 20 along a closingdirection of the opening 2 of the outer body 1, i.e., an arrow Bdirection as shown in FIG. 6A.

Furthermore, as shown in FIG. 6A, a third motor 32 (an open-close memberactuator) is set in the outer body 1. A pulley 33 is joined with arotation axis 32 a of the third motor 33. A wire 34 is turned around thepulley 33. An edge part of the wire 34 is connected to the open-closemember 20. By actuating the third motor 32, a length of the wire 34pulled from the pulley 33 can be adjusted.

In such component, by actuating the third motor 32, the opening 2 of theouter body 1 can be easily opened and closed. Furthermore, bycontrolling actuation quantity of the third motor 32, an area of theopening 2 can be changed. Accordingly, a light quantity incident uponthe camera 12 and a depth of field of the camera 12 can be easilyadjusted based on imaging conditions.

For example, in order to sharply take a predetermined object in a fieldof view of the camera 12, as shown in FIG. 7A, the depth of field can beshortened by enlarging the opening 2 with the open-close member 20. Inorder to sharply take the whole image in the field of view of the camera12, as shown in FIG. 7B, the depth of field can be lengthened byminiaturizing the opening 2 with the open-close member 20. Furthermore,at non-use time, as shown in FIG. 7C, the opening 2 of the outer body 1is closed by the open-close member 20, and the open-close member 20 canfunction as a cover.

Furthermore, the optical quantity can be mechanically adjusted by theopen-close member 20. Accordingly, in the case of utilizing a CCD sensoror a CMOS sensor as the imaging device of the camera 12, in comparisonwith adjustment of the optical quantity using software only, excellentimage can be certainly taken.

Furthermore, by setting a lens cleaner in the inside of the open-closemember 20, a surface of the front glass 12 a of the camera 12 can beeasily cleaned by open-close operation of the open-close member 20.

FIG. 8 shows an outward appearance by cutting the active cameraapparatus according to a modification of the second embodiment. As shownin FIG. 8, a linear shape memory alloy 25 is fixed between theopen-close member 20 and the inside of the outer body 1. A current willshrink the shape memory alloy 25 along a shrink direction line.

Furthermore, the torsion spring 31 (as shown in FIG. 6B) isinter-carried in a space between the support pin 21 and the support hole22. The torsion spring 31 biases the open-close member 20 along aclosing direction of the opening 2 of the outer body 1, i.e., an arrowdirection B as shown in FIG. B. Accordingly, by flowing a current fromthis status to the shape memory alloy 25, the shape memory alloy 25 istransformed along a shrink direction of line, and the open-close member20 can be actuated along an opening direction.

Next, the third embodiment of the present invention is explainedreferring to FIGS. 9-11. In this embodiment, as for components,activation, and operation the same as the first and second embodiments,its explanation is omitted.

FIG. 9 is a section of component of the active camera apparatusaccording to the third embodiment of the present invention. FIG. 10 is ablock diagram of a lens actuator 44 according to the third embodiment.FIG. 11 is a schematic diagram showing a target (pattern) set on theinside of the open-close member 20 according to the third embodiment.

In the third embodiment, as shown in FIG. 9, the camera 12 includes animaging device 40, a first lens 42 and a second lens 43 each forming animage of the outside of the outer body 1 onto the imaging device 40, anda lens actuator 44. The first lens 42 and the second lens 43 are movedalong an optical direction (front and rear direction) of the camera 12by the lens actuator 44. Briefly, focus and optical zoom can beautomatically executed.

As shown in FIG. 10, the lens actuator 44 includes an actuator 45 suchas an electrostatic actuator, an image processing unit 46 to generate atarget value of lens position by processing image information outputfrom the imaging device 40, an orbit generation unit 49 to generate anorbit value of lens based on the target value output from the imageprocessing unit 46, a control operation unit 50 to generate a commandvalue to an actuator driver 47 based on output from the orbit generationunit 49, and an actuator driver 47 to actuate the actuator 45 based onthe command value. The image processing unit 46, the orbit generationunit 49 and the control operation unit 50 can be realized as softwareprocessing by CPU (processor) controlling the whole active cameraapparatus.

As shown in FIG. 11, by using the target 48 as a pattern (drawn) on theinside of the open-close member 20, a lens position is initialized.

First, the camera 12 inputs an image of the target 48 from apredetermined field of view, and image information is supplied to theimage processing unit 46. By moving the lenses 42 and 43 along theoptical direction, image processing is executed for the imageinformation.

Concretely, while the lenses 42 and 43 are moving along the opticaldirection, the image processing unit 46 calculates an average intensityof the whole image of the target 48 in order, and detects an actualposition of the lenses 42 and 43 where the average intensity is maximum.Position data of the lenses 42 and 43 where the average intensity ismaximum is determined by a lens parameter. Accordingly, by setting thisposition as an initial position of lenses 42 and 43, the lens positioncan be initialized with high reappearance.

Next, the fourth embodiment of the present invention is explainedreferring to FIGS. 12 and 13. In this embodiment, as for components,activation, and operation the same as the first, second, and thirdembodiments, its explanation is omitted.

FIGS. 12A and 12B are schematic diagrams of rolling situation of theactive camera apparatus according to the fourth embodiment of thepresent invention. FIG. 12A shows a situation that a center of gravitylocates the lowest position. FIG. 12B shows a situation that the centerof gravity is slightly shifted from the lowest position.

FIG. 13 is a schematic diagram of a situation that rolling of the activecamera apparatus is regulated by the external environment according tothe fourth embodiment.

In the fourth embodiment, as shown in FIGS. 12A and 12B, a radio module51 (a radio communication means) to communicate with an externalapparatus (not shown in FIG.) is installed into the outer body 1.

The radio module 51 receives a command signal from the externalapparatus and sends image information output from the camera 12 to theexternal apparatus based on the command signal. Furthermore, the radiomodule 51 supplies the command signal to the first motor 6 and thesecond motor 17 in order to change a direction of the camera 12 based onthe command signal.

Under this component, even if the active camera apparatus is rolled intoa narrow space, the direction of the camera 12 can be controlled from adistant place, and image information input from the camera 12 at thedistant place can be obtained.

Furthermore, the outer body 1 is formed as a ball shell type.Accordingly, by changing a position of center of gravity of the activecamera apparatus, the active camera apparatus can be rotationally movedon a set plane 53.

For example, in a situation that the camera 12 faces a surface of theset plane 53 as shown in FIG. 12A, the position of center of gravity 52is located on a vertical directional axis k passing through a center ofsphere of the outer body 1, and a moment of inertia does not act uponthe active camera apparatus. Accordingly, the active camera apparatusstands still on the set plane 53 without rolling.

By slightly activating the camera 12 from this situation as shown inFIG. 12B, the position of center of gravity 52 shifts from the verticaldirectional axis k, and the moment of inertia acts upon the activecamera apparatus. Accordingly, the active camera apparatus rotationallymoves on the set plane 53.

In this way, when the active camera apparatus reaches a destinationposition, by activating the active camera apparatus slowly in order notto suddenly change the center of gravity, a direction of the camera 12is changed without rolling the outer body 1. As a result, an imagingobject can be taken from a desired viewpoint.

Furthermore, as shown in FIG. 13, if the outer body 1 is fixed by theexternal environment 54, operation to change the viewpoint to a targetby changing a direction of the camera 12 can be easily executed.

Furthermore, in the case of suddenly moving an internal mechanism suchas the camera 12, a rolling movement of the active camera apparatus maybe realized by utilizing a movement acceleration acting the center ofgravity.

Next, the fifth embodiment of the present invention is explainedreferring to FIGS. 14 and 15. In this embodiment, as for components,activation, and operation same as the first, second, third, and fourthembodiments, its explanation is omitted.

FIGS. 14A and 14B are schematic diagrams of an outline of a robotapparatus 60 according to the fifth embodiment of the present invention.In the fifth embodiment, as shown in FIGS. 14A and 14B, the activecamera apparatus of the present invention is mounted as both eyes onto apredetermined position of the robot apparatus 60.

In this component, the camera 12 installed into the outer body 1 ismoved as an eyeball and the open-close member 20 is moved as an eyelid.As a result, the robot apparatus 60 can execute feeling expression suchas a living thing and communicate with a person. As a communication witha person, in the case of understanding the person's instruction, therobot apparatus 60 may wink at the person by closing one open-closemember 20.

Next, processing steps of the robot apparatus 60 to communicate with aperson is explained referring to FIG. 15. FIG. 15 is a flow chart ofprocessing of the robot apparatus 60 in the case of communicating withthe person.

First, when the active camera apparatus is activated, a person issues aninstruction (order) to the robot apparatus 60 by a gesture or a voice(S1). When a voice detector (not shown in Fig.) installed into the robotapparatus 60 detects the person's voice (YES at S2), the voice is inputfrom a microphone (not shown in Fig.) (S3). Thus, the voice isrecognized (S4) and the instruction is deciphered and understood (S5).

On the other hand, when the voice detector does not detect the person'svoice (NO at S2), the person's gesture is input from the camera 12 (S6).Thus, the gesture is recognized (S7) and the instruction is decipheredand understood (s5). In the gesture recognition, a plurality of patternsis previously stored in a memory (not shown in Fig.). By deciding thatthe gesture corresponds to a particular pattern, the meaning of theinstruction is understood.

Next, if the robot apparatus 60 decides that the instruction can beexecuted based on the present situation and surrounding information (YESat S8), the robot apparatus 60 outputs an activation command signal tothe third motor 32, and closes the opening 2 of the outer body 1 usingthe open-close member 20. Briefly, the robot apparatus 60 closes aneyelid of one eye, i.e., winks as expression of the robot's intention.

On the other hand, if the robot apparatus 60 decides that theinstruction can not be executed (NO at S8), the voice detector tries todetect the person's voice again.

As mentioned-above, in the present invention, the camera and the cameraactuator can be protected from the external environment withoutenlarging component of the apparatus.

Other embodiments of the invention will be apparent to those skilled inthe art from consideration of the specification and practice of theinvention disclosed herein. It is intended that the specification andexamples be considered as exemplary only, with the true scope and spiritof the invention being indicated by the following claims.

1. An active camera apparatus, comprising: an outer body of a ball shelltype having an opening; a camera in the outer body, the camera receivingan image from outside of the outer body through the opening; a camerasupport unit in the outer body, the camera support unit rotationallysupporting the camera along a first axis and a second axis crossing at acenter of the outer body, the camera support unit including ahalf-toroidal member rotating around the first axis, an axial member asthe second axis connecting between both edges of the half-toroidalmember, a mounting plate through which the axial member passes mountingthe camera, a camera support member as the ball shell type being locatedinside the outer body and fixed to the half-toroidal member and thecamera, the camera support member having an engagement pin projected onan outer surface of the camera support member; a first camera actuatorin the outer body, the first camera actuator rotationally actuating thecamera around the first axis; a second camera actuator in the outerbody, the second camera actuator rotationally actuating the cameraaround the second axis; an open-close member as a partial ball shelltype located in a space between the outer body and the camera supportmember, the open-close member being rotated around the second axis, theopen-close member having two support pins projecting in oppositedirections on an outer surface of the open-close member, the oppositedirections being positioned along the second axis, the outer body havingtwo support holes into which the support pins rotationally fit, theopen-close member having an engagement hole into which the engagementpin movably fits, a length of the engagement hole along a rotationdirection around the first axis being longer than a length of theengagement hole along a rotation direction around the second axis. 2.The active camera apparatus according to claim 1, wherein the camerasupport member and the camera are rotated as one body around the firstaxis and the second axis in the outer body, a lens of the camera facingthe outside of the outer body through the opening.
 3. The active cameraapparatus according to claim 2, wherein the camera support unit includesa spur gear fixed to one edge of the half-toroidal member, an axis ofthe spur gear being fixedly connected to one end of the axial member. 4.The active camera apparatus according to claim 3, wherein the firstcamera actuator is a first motor fixed to an inside of the outer body, arotation axis of the first motor is parallel to the first axis, and apinion gear joining with the rotation axis engages an inner gear of aninner circular surface of the half-toroidal member, and wherein thehalf-toroidal member is rotated around the first axis by rotation of thepinion gear of the first motor.
 5. The active camera apparatus accordingto claim 4, wherein the second camera actuator is a second motor fixedto the mounting plate, a rotation axis of the second motor beingparallel to the second axis, and a pinion gear joining with the rotationaxis engaging the spur gear, and wherein the mounting plate is rotatedaround the second axis by rotation of the pinion gear of the secondmotor.
 6. The active camera apparatus according to claim 5, wherein thecamera support member with the camera is rotated around the first axisby rotation of the half-toroidal member and is rotated around the secondaxis by rotation of the mounting plate.
 7. An active camera apparatus,comprising an outer body of a ball shell type having an opening; acamera in the outer body, the camera receiving an image from outside ofthe outer body through the opening; a camera support unit in the outerbody, the camera support unit rotationally supporting the camera along afirst axis and a second axis crossing at a center of the outer body, thecamera support unit including a half-toroidal member rotating around thefirst axis, an axial member as the second axis connecting between bothedges of the half-toroidal member, a mounting plate through which theaxial member passes mounting the camera, a camera support member as theball shell type being located inside the outer body and fixed to thehalf-toroidal member and the camera; a first camera actuator in theouter body, the first camera actuator rotationally actuating the cameraaround the first axis and being a first motor; a second camera actuatorin the outer body, the second camera actuator rotationally actuating thecamera around the second axis and being a second motor; an open-closemember as a partial ball shell type located in a space between the outerbody and the camera support member, the open-close member being rotatedaround the second axis, the open-close member having two support pinsprojecting in opposite directions on an outer surface of the open-closemember, the opposite directions being positioned along the second axis,the outer body having two support holes into which the support pinsrotationally fit; a torsion spring inter-carried in a space between thesupport pin and the support hole, the torsion spring energizing theopen-close member along a rotation direction around the second axis; anda third motor in the outer body, a rotation axis of the third motorjoining with a pulley around which a wire is turned, a tip of the wirebeing connected to one end of an inside of the open-close member.
 8. Theactive camera apparatus according to claim 7, wherein the camera supportmember and the camera are rotated as one body around the first axis andthe second axis in the outer body, a lens of the camera facing theoutside of the outer body through the opening.
 9. The active cameraapparatus according to claim 8, wherein the camera support unit includesa spur gear fixed to one edge of the half-toroidal member, an axis ofthe spur gear being fixedly connected to one end of the axial member.10. The active camera apparatus according to claim 9, wherein the firstcamera actuator is the first motor fixed to an inside of the outer body,a rotation axis of the first motor is parallel to the first axis, and apinion gear joining with the rotation axis engages an inner gear of aninner circular surface of the half-toroidal member, and wherein thehalf-toroidal member is rotated around the first axis by rotation of thepinion gear of the first motor.
 11. The active camera apparatusaccording to claim 10, wherein the second camera actuator is the secondmotor fixed to the mounting plate, a rotation axis of the second motorbeing parallel to the second axis, and a pinion gear joining with therotation axis engaging the spur gear, and wherein the mounting plate isrotated around the second axis by rotation of the pinion gear of thesecond motor.
 12. The active camera apparatus according to claim 11,wherein the camera support member with the camera is rotated around thefirst axis by rotation of the half-toroidal member and is rotated aroundthe second axis by rotation of the mounting plate.
 13. A robotapparatus, comprising: an outer body of a ball shell type having anopening; a camera as an eyeball in the outer body, the camera receivingan image from outside of the outer body through the opening; a camerasupport unit in the outer body, the camera support unit rotationallysupporting the camera along a first axis and a second axis crossing at acenter of the outer body, the camera support unit including ahalf-toroidal member rotating around the first axis, an axial member asthe second axis connecting between both edges of the half-toroidalmember, a mounting plate through which the axial member passes mountingthe camera, a camera support member as the ball shell type being locatedinside the outer body and fixed to the half-toroidal member and thecamera; a first camera actuator in the outer body, the first cameraactuator rotationally actuating the camera around the first axis; asecond camera actuator in the outer body, the second camera actuatorrotationally actuating the camera around the second axis; an open-closemember as a partial ball shell type located in a space between the outerbody and the camera support member, the open-close member being rotatedaround the second axis, the open-close member having two support pinsprojecting in opposite directions on an outer surface of the open-closemember, the opposite directions being positioned along the second axis,the outer body having two support holes into which the support pinsrotationally fit, the open-close member having an engagement hole intowhich an engagement pin movably fits, a length of the engagementhole-along a rotation direction around the first axis being longer thana length of the engagement hole along a rotation direction around thesecond axis.
 14. The active camera apparatus according to claim 13,wherein the camera support member and the camera are rotated as one bodyaround the first axis and the second axis in the outer body, a lens ofthe camera facing the outside of the outer body through the opening. 15.The active camera apparatus according to claim 14, wherein the camerasupport unit includes a spur gear fixed to one edge of the half-toroidalmember, an axis of the spur gear being fixedly connected to one end ofthe axial member.
 16. The active camera apparatus according to claim 15,wherein the first camera actuator is a first motor fixed to an inside ofthe outer body, a rotation axis of the first motor is parallel to thefirst axis, and a pinion gear joining with the rotation axis engages aninner gear of an inner circular surface of the half-toroidal member, andwherein the half-toroidal member is rotated around the first axis byrotation of the pinion gear of the first motor.
 17. The active cameraapparatus according to claim 16, wherein the second camera actuator is asecond motor fixed to the mounting plate, a rotation axis of the secondmotor being parallel to the second axis, and a pinion gear joining withthe rotation axis engaging the spur gear, and wherein the mounting plateis rotated around the second axis by rotation of the pinion gear of thesecond motor.
 18. The active camera apparatus according to claim 17,wherein the camera support member with the camera is rotated around thefirst axis by rotation of the half-toroidal member and is rotated aroundthe second axis by rotation of the mounting plate.
 19. A robotapparatus, comprising: an outer body of a ball shell type having anopening; a camera as an eyeball in the outer body, the camera receivingan image from outside of the outer body through the opening; a camerasupport unit in the outer body, the camera support unit rotationallysupporting the camera along a first axis and a second axis crossing at acenter of the outer body, the camera support unit including ahalf-toroidal member rotating around the first axis, an axial member asthe second axis connecting between both edges of the half-toroidalmember, a mounting plate through which the axial member passes mountingthe camera, a camera support member as the ball shell type being locatedinside the outer body and fixed to the half-toroidal member and thecamera; a first camera actuator in the outer body, the first cameraactuator rotationally actuating the camera around the first axis andbeing a first motor; a second camera actuator in the outer body, thesecond camera actuator rotationally actuating the camera around thesecond axis and being a second motor; an open-close member as a partialball shell type located in a space between the outer body and the camerasupport member, the open-close member being rotated around the secondaxis, the open-close member having two support pins projecting inopposite directions on an outer surface of the open-close member, theopposite directions being positioned along the second axis, the outerbody having two support holes into which the support pins rotationallyfit; a torsion spring inter-carried in a space between the support pinand the support hole, the torsion spring energizing the open-closemember along a rotation direction around the second axis; and a thirdmotor in the outer body, a rotation axis of the third motor joining witha pulley around which a wire is turned, a tip of the wire beingconnected to one end of an inside of the open-close member.
 20. Theactive camera apparatus according to claim 19, wherein the camerasupport member and the camera are rotated as one body around the firstaxis and the second axis in the outer body, a lens of the camera facingthe outside of the outer body through the opening.
 21. The active cameraapparatus according to claim 20, wherein the camera support unitincludes a spur gear fixed to one edge of the half-toroidal member, anaxis of the spur gear being fixedly connected to one end of the axialmember.
 22. The active camera apparatus according to claim 21, whereinthe first camera actuator is the first motor fixed to an inside of theouter body, a rotation axis of the first motor is parallel to the firstaxis, and a pinion gear joining with the rotation axis engages an innergear of an inner circular surface of the half-toroidal member, andwherein the half-toroidal member is rotated around the first axis byrotation of the pinion gear of the first motor.
 23. The active cameraapparatus according to claim 22, wherein the second camera actuator isthe second motor fixed to the mounting plate, a rotation axis of thesecond motor being parallel to the second axis, and a pinion gearjoining with the rotation axis engaging the spur gear, and wherein themounting plate is rotated around the second axis by rotation of thepinion gear of the second motor.
 24. The active camera apparatusaccording to claim 23, wherein the camera support member with the camerais rotated around the first axis by rotation of the half-toroidal memberand is rotated around the second axis by rotation of the mounting plate.